CN1618649A - Method and system for controlling regenerative braking of a four wheel drive electric vehicle - Google Patents

Method and system for controlling regenerative braking of a four wheel drive electric vehicle Download PDF

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Publication number
CN1618649A
CN1618649A CNA2004100912329A CN200410091232A CN1618649A CN 1618649 A CN1618649 A CN 1618649A CN A2004100912329 A CNA2004100912329 A CN A2004100912329A CN 200410091232 A CN200410091232 A CN 200410091232A CN 1618649 A CN1618649 A CN 1618649A
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China
Prior art keywords
electrical motor
regenerative brake
power
brake
wheel
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Granted
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CNA2004100912329A
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Chinese (zh)
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CN1296223C (en
Inventor
崔榕珏
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Hyundai Motor Co
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Hyundai Motor Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58—Combined or convertible systems
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60L2240/00—Control parameters of input or output; Target parameters
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

Abstract

The present invention discloses a regenerative braking control method for the four-wheel drive electric automobile equipped with a front wheel motor and a rear wheel motor, and a manual transmission gear. When the four-wheel drive electric automobile is performing braking operation, different controls for the regenerative braking of the front wheel and the back wheel is performed according to that if the clutch is engaged or disengaged.

Description

The regenerating brake control method of four-wheeled electric vehicle and device
The related application of cross-reference
The application requires the preceence of disclosed korean patent application No.10-2003-0081854 on the 18th November in 2003, will be in conjunction with its whole disclosures as a reference at this.
Technical field
By and large, the present invention relates to a kind of elec. vehicle.Specifically, the present invention relates to the control of braking of battery-driven car.
Background technology
As known in the art, the battery-driven car utilization is stored in electricity of accumulator and is used as propulsion source.For the energy efficiency and the mileage number that improve this battery-driven car, the braking of this battery-driven car is normally controlled by the regenerative brake mode, thereby some energy can be recovered in braking procedure and are converted into electric energy.
Battery-driven car be furnished with usually automatic transmission with hydraulic torque converter or toric transmission (continuously variabletransmission, CVT).
Under the situation that sets hand-operated transmission on the battery-driven car, chaufeur needs operated clutch manually, thereby chaufeur changes acumen more to the vehicle proterties that is caused by the starting regenerative brake.Therefore, it is more accurate to set the regenerative brake control meeting of battery-driven car of hand-operated transmission.
The dynamical system that can on front and back wheel, all apply the four wheel drive configuration of propulsive effort have a lot of in advantage.When the dynamical system of battery-driven car also is configured to the four wheel drive form, battery-driven car also will possess these advantages.
Also together be equipped with under the situation of hand-operated transmission with the four wheel drive dynamical system on the battery-driven car, the applicability of front and back wheel regenerative brake depends on basically whether chaufeur has operated power-transfer clutch.
Disclosed content only is to understand background of invention of the present invention better in order to help in the background technology of the present invention part, and should not be considered to admit or hint that these information have constituted by the known prior art of these national those of ordinary skills.
Summary of the invention
The purpose of this invention is to provide the method and system of the regenerative brake of controlling the four-wheeled electric vehicle that is equipped with front and back electrical motor and hand-operated transmission, it has the non-limiting advantage that control stiffness is improved.
A method example of control four-wheeled electric vehicle regenerative brake according to an embodiment of the invention comprises: judge whether this four-wheeled electric vehicle has been carried out brake operating; When this four-wheeled electric vehicle has been carried out brake operating, judge that power-transfer clutch is engagement or released state; And, on the basis that the engagement/disengagement state of power-transfer clutch is judged, the regenerative brake of electrical motor before and after the control.
In a further embodiment, when power-transfer clutch was in engagement, the two all carried out regenerative brake to the control of the regenerative brake of this front and back electrical motor to the front and back electrical motor.
In another further embodiment, when power-transfer clutch was in released state, the control of the regenerative brake of this front and back electrical motor was only carried out regenerative brake to the back electrical motor in the electrical motor of front and back.
In a further embodiment, during disengaging of clutch after regenerative brake power on regenerative brake power on the electrical motor back electrical motor during less than clutches engaged.
In another further embodiment, the control of the regenerative brake of front and back electrical motor comprises: the slip rate of trailing wheel when calculating disengaging of clutch; Whether the slip rate of judging this trailing wheel is less than the reference slip rate; And when this trailing wheel slip rate is not less than this with reference to slip rate, stop the regenerative brake of back electrical motor.
In another further embodiment, the regenerative brake control of front and back electrical motor comprises whether judgement speed of a motor vehicle in the brake operation course of this four-wheeled electric vehicle becomes 0 (zero), wherein, when the speed of a motor vehicle of this four-wheeled electric vehicle became 0, the regenerative brake that stops the back electrical motor was in D Drive until clutches engaged and hand-operated transmission.
The system example of control four-wheeled electric vehicle regenerative brake according to an embodiment of the invention is a kind of system of regenerative brake of the four-wheeled electric vehicle that is used to control the stop mechanism that is equipped with front and back wheel and applies mechanical braking power to this front and back wheel.
The system of this control four-wheeled electric vehicle regenerative brake comprises: the preceding electrical motor that is used for applying to front-wheel propulsive effort and regenerative brake power; Be used for applying the back electrical motor of propulsive effort and regenerative brake power to trailing wheel; Hand-operated transmission and power-transfer clutch before placing between electrical motor and the front-wheel; Be used to detect clutches engaged whether clutches engaged detector; Be used to detect the brake operating detector of the operation of stop mechanism; Be used for coming the front and back electrical motor is carried out the controller of regenerative brake control based on above-mentioned detector,
Wherein this controller is carried out a kind of instruction that is used to control the method for regenerative brake, and this method comprises: judge whether this four-wheeled electric vehicle has been carried out brake operating; When this four-wheeled electric vehicle has been carried out brake operating, judge that power-transfer clutch is engagement or released state; And on the basis that the engagement/disengagement state of power-transfer clutch is judged, the regenerative brake of electrical motor before and after the control.
In a further embodiment, when power-transfer clutch was in engagement, the two all carried out regenerative brake to the control of the regenerative brake of this front and back electrical motor to the front and back electrical motor.
In another further embodiment, when power-transfer clutch was in released state, the control of the regenerative brake of this front and back electrical motor was only carried out regenerative brake to the back electrical motor in the electrical motor of front and back.
In a further embodiment, during disengaging of clutch after regenerative brake power on regenerative brake power on the electrical motor back electrical motor during less than clutches engaged.
In another further embodiment, further comprise the rear wheel rotation speed detector that is used to detect the front wheel rotation speed detector of front wheel rotation speed and is used to detect rear wheel rotation speed, wherein the regenerative brake control of front and back electrical motor comprises: the slip rate of trailing wheel when calculating disengaging of clutch; Whether the slip rate of judging this trailing wheel is less than the reference slip rate; And when this trailing wheel slip rate is not less than this with reference to slip rate, stop the regenerative brake of back electrical motor.
In another further embodiment, the gear shift detector that also comprises the shift pattern that is used to detect hand-operated transmission, the control of the regenerative brake of electrical motor comprises whether judgement speed of a motor vehicle in the brake operation course of this four-wheeled electric vehicle becomes 0 (zero) wherein, wherein, when the speed of a motor vehicle of this four-wheeled electric vehicle became 0, the regenerative brake that stops the back electrical motor was in D Drive until clutches engaged and hand-operated transmission.
Description of drawings
Accompanying drawing combines with specification sheets of the present invention and as a component part of specification sheets of the present invention, it illustrates one embodiment of the invention, and and specification sheets together in order to explain inventive principle of the present invention.
Fig. 1 is the scheme drawing according to the system of the control four-wheeled electric vehicle regenerative brake of one embodiment of the invention;
Fig. 2 is the diagram of block according to the system of the control four-wheeled electric vehicle regenerative brake of one embodiment of the invention;
Fig. 3 is the diagram of circuit according to the method for the control four-wheeled electric vehicle regenerative brake of one embodiment of the invention;
The specific embodiment
Below with reference to accompanying drawings, describe one embodiment of the invention in detail.
Fig. 1 is the scheme drawing according to the system of the control four-wheeled electric vehicle regenerative brake of one embodiment of the invention, and Fig. 2 is the diagram of block according to the system of the control four-wheeled electric vehicle regenerative brake of one embodiment of the invention.
As depicted in figs. 1 and 2, comprise front-wheel 102 and trailing wheel 104 and brake equipment 180 according to the four-wheeled electric vehicle 100 of one embodiment of the invention, this brake equipment 180 is used for applying mechanical braking power to front-wheel 102 and trailing wheel 104.
Fig. 1 illustrates a kind of battery-driven car of particular type, i.e. the hybrid-power electric vehicle of four wheel drive (hereinafter being called 4WD-HEV).Yet should understand scope of the present invention is not limited thereto.The present invention can also be applied on the pure electric vehicle except can be applicable to hybrid-power electric vehicle.In addition, parallel type hybrid dynamic battery-driven car and serial mixed power battery-driven car the two can use the present invention.
The system of above-mentioned 4WD-HEV 100 regenerative brakes of control according to the present invention comprises: the preceding electrical motor 112 that applies propulsive effort and regenerative brake power to front-wheel 102; Apply the back electrical motor 114 of propulsive effort and regenerative brake power to trailing wheel 104; Hand-operated transmission 140 and power-transfer clutch 142 before being arranged between electrical motor 112 and the front-wheel 102; Be used to detect the clutches engaged detector 210 of the engagement of power-transfer clutch 142; Be used to detect the brake operating detector 220 of the operating conditions of brake equipment 180; Be used to detect the front wheel rotation speed detector 132 of the rotating speed of front-wheel 102; Be used to detect the trailing wheel speed detector 134 of the rotating speed of trailing wheel 104; Be used to detect the gear shift detector 230 of the shift pattern of hand-operated transmission 140; With the electrical motor 112 before the control on the basis of detector 210,220,230,132 and 134 and the back controller 150 of the regenerative brake of electrical motor 114.
Clutches engaged detector 210 can by, for example be arranged on ON/OFF sensor on the pedal of clutch (not shown), that detect the operation of pedal of clutch (not shown), realize.
Brake operating detector 220 can by, for example be arranged on the brake pedal 175, be used to detect the ON/OFF sensor of brake pedal 175 operations, realize.
Front wheel rotation speed sensor 132 and rear wheel rotation speed sensor 134 can by, for example gear ring and Magnetic Sensor are realized.
Gear shift detector 230 can by, for example be used to detect the sensor of bar position of the hand shifting transmission bar (not shown) of hand-operated transmission 140, realize.
Controller 150 can be realized by one or more treaters that start by preset program, and this preset program can be programmed to carry out each step according to the method for one embodiment of the invention.
More particularly, brake equipment 180 comprises: be used for to apply to front-wheel 102 front wheel brake device 122 of hydraulic braking force according to the operation of brake pedal 175, be used for to apply the trailing wheel brake equipment 124 of hydraulic braking force according to the operation of brake pedal 175 to trailing wheel 104, with the hydraulic module (hydraulic module, HM) 170 that are used for hydraulic braking force being distributed to front wheel brake device 122 and trailing wheel brake equipment 124 according to the operation of brake pedal 175.
Controller 150 comprises: the preceding motor controller (MCU_F) 152 of electrical motor 112 before being used to control; Be used to control the back motor controller (MCU_R) of back electrical motor 114; Be used to control the battery management system (BMS) 153 of storage battery 160; Be used to control the control unit of engine (ECU) 156 of the driving engine 144 of 4WD-HEV 100; The brak control unit (BCU) 157 that is used for the modulated pressure braking force; And the mixed control unit (HCU) 158 that is used for comprehensively controlling 4WD-HEV 100.(controller area network, signalling methods CAN) comes mutual communication by controller area network for this controller 152 and 154, management system 153 and control unit 156,157 and 158.
To describe regenerating brake control method below in detail according to the four-wheeled electric vehicle of one embodiment of the invention.
Fig. 3 is the diagram of circuit according to the method for the control four-wheeled electric vehicle regenerative brake of one embodiment of the invention.
At first in step S305, controller 150 determines whether this 4WD-HEV 100 has carried out brake operating.
When this 4WD-HEV 100 had carried out brake operating, controller 150 was determined the engagement/disengagement state of power-transfer clutch immediately in step S310.
Subsequently, in step S320, controller 150 on basis to the judgement of the engagement/disengagement state of power-transfer clutch, the regenerative brake of electrical motor 112 and back electrical motor 113 before the control.
More particularly, in step 320, be at power-transfer clutch under the condition of engagement, before 150 pairs of the controllers electrical motor 112 and back electrical motor 114 the two carry out regenerative brake simultaneously, and be at power-transfer clutch under the condition of released state, 150 of controllers carry out regenerative brake to back electrical motor 114.
Controller 150 will be controlled to be the regenerative brake power FR2 less than the back electrical motor 114 under the clutches engaged state at the regenerative brake power FR1 of the back electrical motor 114 under the disengaging of clutch state.
Regenerative brake control in the step 320 will be described below in more detail.
When power-transfer clutch 142 separates (S310-is not), when the transmission of power that promptly current electrical motor 112 and front-wheel are 102 was cut off, controller 150 calculated the object regeneration braking force FR1 of back electrical motor 114 in step S322.In step 322, the object regeneration braking force of electrical motor 112 before not calculating.
The object regeneration braking force FR1 of back electrical motor 114 is calculated as the object regeneration braking force less than the back electrical motor 114 under the clutches engaged state.The object regeneration braking force of the back electrical motor 114 under this clutches engaged state will be described hereinafter.
When only applying an extra regenerative brake power again except applying mechanical braking power on trailing wheel 104 applying mechanical braking power on the front-wheel 102, the proterties during car brakeing can worsen to some extent.Therefore, can be by when power-transfer clutch 142 does not mesh, applying the deterioration that the braking force littler braking force of a ratio when power-transfer clutch 142 meshes prevents this vehicle proterties.
Then, in step S325, controller 150 is controlled the regenerative brake of back electrical motor 114 on the basis of the object regeneration braking force FR1 that calculates.
Subsequently, in step S330, controller 150 detects front-wheel 102 and trailing wheel 104 rotating speed separately by preceding wheel speed detector 132 and back wheel speed detector 134, and calculates the speed of a motor vehicle on this basis.
Next, in step S332, controller 150 calculates the slip rate S_cal of trailing wheel 104 according to the speed of a motor vehicle and wheel 102 and 104 rotating speed separately.
According to the revolution speed calculating speed of a motor vehicle of wheel 102 and 104 and the slip rate that calculates trailing wheel 104, for those of ordinary skills, all be conspicuous.
Calculated after the slip rate S_cal of trailing wheel 104, in step S334, controller is compared with one the slip rate S_cal that calculates with reference to slip rate S_limit, with the slip rate determining to calculate whether less than reference slip rate S_limit.
As the slip rate S_cal that calculates during less than reference slip rate S_limit, controller is proceeded the regenerative brake of trailing wheel 104 in step S336.
Yet when the slip rate S_cal that calculates was not less than with reference to slip rate S_limit, in step S338, controller stopped the regenerative brake to trailing wheel 104.Thereby in this case, 100 of this 4WD-HEV are slowed down by this mechanical braking power of hydraulic braking force.
As mentioned above, continuous regenerative brake process can be interrupted according to the slip rate S_cal of trailing wheel 104.Therefore, it can avoid the mis-behave that this 4WD-HEV 100 causes owing to the extra regenerative brake power that is applied on the trailing wheel 104 when only carrying out regenerative brake on trailing wheel.
In step S340, controller 150 judges whether the speed of a motor vehicle becomes 0 (zero) subsequently.
When the speed of a motor vehicle became 0, controller 150 was carried out one and is stopped back controlled step S370.Stop among the controlled step S370 of back at this, controller 150 stops the regenerative brake of back electrical motor 114, is in the acceleration shelves that advance up to power-transfer clutch 142 engagements and hand-operated transmission.Hereinafter will further specifically describe this and stop back controlled step S370.
When the speed of a motor vehicle did not also become 0 (zero), controller 150 judged in step 345 whether chaufeur has stopped brake operating.Whether the chaufeur brake operating stops and can determining by the output signal of brake operating detector 220.
When the brake operating of chaufeur did not also stop, controller 150 was back to the step S322 of the target braking force FR1 that calculates back electrical motor 114.Therefore, even if power-transfer clutch 142 separates, the regenerative brake of back electrical motor 114 also can be according to the brake operating of chaufeur and is carried out constantly.
When the brake operating of chaufeur had stopped, controller 150 was back to step S305, thereby was ready to next brake operating is carried out regenerative brake control.
Above-mentioned explanation mainly is the situation when not meshing about power-transfer clutch in the step 310 142.
Hereinafter explanation mainly is about when power-transfer clutch 142 meshes, when promptly between preceding electrical motor 112 and front-wheel 102, having transmission of power, and the control process of controller 150.
Under power-transfer clutch 142 ingear situations (S310-is), at first in step S352, controller 150 response chaufeurs are to the operation of brake pedal, and the object regeneration of the object regeneration braking force FF2 of electrical motor 112 and back electrical motor 114 is braked FR2 before calculating.
Subsequently, in step S355, controller 150 carries out regenerative brake to preceding electrical motor 112 and back electrical motor 114 on the basis of the object regeneration braking force FR2 of the object regeneration braking force FF2 of the preceding electrical motor 112 that calculates and back electrical motor 114.
Subsequently, in step S360, controller 150 detects the rotating speed separately of front-wheel and trailing wheel by preceding wheel speed detector 132 and back wheel speed detector 134, and calculates the speed of a motor vehicle on this basis.
In next step S362, controller 150 judges whether the speed of a motor vehicle has become 0 (zero).
When the speed of a motor vehicle became 0, controller 150 was carried out one and is stopped back controlled step S370.Cross as described above, stop among the controlled step S370 of back at this, controller 150 stops the regenerative brake of back electrical motor 114, is in the acceleration shelves that advance up to power-transfer clutch 142 engagements and hand-operated transmission.Hereinafter will further specifically describe this and stop back controlled step S370.
When the speed of a motor vehicle did not also become 0 (zero), controller 150 judged in step 365 whether chaufeur has stopped brake operating.Whether the chaufeur brake operating stops to be judging by the output signal of brake operating detector 220.
When the brake operating of chaufeur does not also stop, target braking force FF2, the step S352 of FR2 of electrical motor 112, back electrical motor 114 before controller 150 turns back to and calculates.Therefore, when power-transfer clutch 142 engagement, the regenerative brake of front and back electrical motor 112,114 also can carry out constantly according to the brake operating of chaufeur.
When the brake operating of chaufeur had stopped, controller 150 was back to step S305, thereby can be ready to next brake operating is carried out regenerative brake control.
What hereinafter will specifically describe in the braking procedure of 4WD-HEV 100 after the speed of a motor vehicle becomes 0 (zero) controller 150 stops back controlled step S370.
At first, in step S372, controller 150 judges whether power-transfer clutch is ingear.
When power-transfer clutch 142 is ingear, controller 150 in step S374, judge current gear be neutral gear (Neutral, N) still reverse gear (Reverse, R).
If current gear is neither neutral gear N neither reverse gear R, at current gear is under for example one grade of D Drive, second gear, third gear or the four-speed situation, controller 150 turns back to step S305, thereby can be ready to next brake operating is carried out regenerative brake control.
If current gear is neutral gear N or reverse gear R, controller 150 just judges in step S376 whether current gear is neutral gear N.
If judge that in step S376 current gear is neutral gear N, find in step S372 that perhaps power-transfer clutch 142 has separated, controller 150 just judges in step S380 whether car speed still remains 0 (zero).
Remain in the speed of a motor vehicle under 0 the situation, controller 150 turns back to step S372, to judge the engagement/disengagement state of power-transfer clutch.
If judge the speed of a motor vehicle in step S380 is not 0 o'clock, perhaps judging current gear in step S376 is not neutral gear N (meaning that current gear is reverse gear R), controller 150 responds the brake operating of chaufeur in step S390, only come 4WD-HEV 100 is slowed down by mechanical braking power.
To further specifically describe step S390 below.
At the speed of a motor vehicle (S380-not) under 0 situation about changing, be that controller 150 judges in step S392 whether this 4WD-HEV100 has been carried out brake operating under the situation of reverse gear R (S376-is not) perhaps at current gear.
Be not carried out under the situation of brake operating at this 4WD-HEV 100, controller 150 turns back to the judgement of carrying out clutches engaged/released state among the step S372.
Be braked under the situation of operation the regenerative brake of electrical motor 112,114 before and after controller 150 continues to end in step S394 at this 4WD-HEV 100.Thereby, in this case, only be applied with mechanical braking power on the front and back wheel 102,104, because the regenerative brake of front and back electrical motor 112,114 is stopped.
In step S396, controller 150 detects the speed of a motor vehicle once more subsequently.Then in step S398, controller 150 judges whether the speed of a motor vehicle equals 0 or whether the brake operating of this 4WD-HEV 100 be stopped.
The speed of a motor vehicle do not become 0 and brake operating still under situation about continuing, controller turns back among the step S394, thereby continues mechanical braking.
The speed of a motor vehicle become 0 or brake operating situation about being stopped under, controller 150 turns back among the step S372, stops back controlled step S370 thereby can carry out once more.
According to one embodiment of the invention, the regenerative brake of front and back electrical motor can carry out different control according to the engagement/disengagement state of power-transfer clutch.
When clutches engaged, on front and back wheel, all be applied in regenerative brake power, thereby can improve the regeneration rate of energy.
When power-transfer clutch does not mesh, still be applied in regenerative brake power on the trailing wheel, thereby also can have carried out energy regeneration in such cases.
When power-transfer clutch did not mesh, the regenerative brake power that applies during the regenerative brake force rate clutches engaged that applies on trailing wheel was little.Therefore, the vehicle power of the four-wheeled electric vehicle under the braking situation can become more stable.
In the regenerative brake process when power-transfer clutch does not mesh, the slip rate of trailing wheel is controlled as littler than reference slip rate always.Thereby it is more stable that the vehicle power of the four-wheeled electric vehicle under the braking situation can become.
Is that 0 situation has been carried out independent consideration for regenerative brake to the speed of a motor vehicle in the battery-driven car braking procedure.Therefore, no matter be that the regenerative brake of battery-driven car is all optimised under normal advancing drive condition or under the drive condition of reverse gear or neutral gear.
Though combine and be considered to the most practical and the most preferred embodiment is set forth the present invention, but should understand the present invention and be not limited in these disclosed embodiments, but antithesis, the present invention ought to be contained various remodeling included in the spirit and scope of the appended claims and equivalence design.

Claims (12)

  1. One kind be used to control be equipped with before and after the method for regenerative brake of four-wheeled electric vehicle of electrical motor, this preceding electrical motor links to each other with front-wheel, is provided with a hand-operated transmission that has power-transfer clutch therebetween, this method comprises:
    Judge whether this four-wheeled electric vehicle has been carried out brake operating;
    When this four-wheeled electric vehicle has been carried out brake operating, judge that power-transfer clutch is in engagement or in released state; And
    On the basis that the engagement/disengagement state of power-transfer clutch is judged, the regenerative brake of electrical motor before and after the control.
  2. 2. the method for claim 1, wherein when power-transfer clutch was in engagement, the control of the regenerative brake of this front and back electrical motor was all carried out regenerative brake to the front and back electrical motor.
  3. 3. the method for claim 1, wherein when power-transfer clutch was in released state, the control of the regenerative brake of this front and back electrical motor was only carried out regenerative brake to the back electrical motor in the electrical motor of front and back.
  4. 4. method as claimed in claim 3, wherein during disengaging of clutch after regenerative brake power on regenerative brake power on the electrical motor back electrical motor during less than clutches engaged.
  5. 5. method as claimed in claim 3, wherein the regenerative brake control of front and back electrical motor comprises:
    The slip rate of trailing wheel when calculating disengaging of clutch;
    Whether the slip rate of judging this trailing wheel is less than the reference slip rate; And
    When this trailing wheel slip rate is not less than this with reference to slip rate, stop the regenerative brake of back electrical motor.
  6. 6. method as claimed in claim 3, wherein the regenerative brake control of front and back electrical motor comprises whether judgement speed of a motor vehicle in the brake operation course of this four-wheeled electric vehicle becomes 0 (zero),
    Wherein, when the speed of a motor vehicle of this four-wheeled electric vehicle was 0, the regenerative brake that stops the back electrical motor was in D Drive until clutches engaged and hand-operated transmission.
  7. 7. system that is used to control the regenerative brake of four-wheeled electric vehicle, this battery-driven car is equipped with front and back wheel and applies the stop mechanism of mechanical braking power to this front and back wheel, and this system comprises:
    Be used for applying the preceding electrical motor of propulsive effort and regenerative brake power to front-wheel;
    Be used for applying the back electrical motor of propulsive effort and regenerative brake power to trailing wheel;
    Hand-operated transmission and power-transfer clutch before placing between electrical motor and the front-wheel;
    Be used to detect clutches engaged whether clutches engaged detector;
    Be used to detect the brake operating detector of the operation of stop mechanism;
    Be used for coming the front and back electrical motor is carried out the controller of regenerative brake control based on above-mentioned detector;
    Wherein this controller is carried out a kind of instruction that is used to control the method for regenerative brake, and this method comprises:
    Judge whether this four-wheeled electric vehicle has been carried out brake operating;
    When this four-wheeled electric vehicle has been carried out brake operating, judge that power-transfer clutch is in engagement or in released state; And
    On the basis that the engagement/disengagement state of power-transfer clutch is judged, the regenerative brake of electrical motor before and after the control.
  8. 8. system as claimed in claim 7, wherein when power-transfer clutch was in engagement, the control of the regenerative brake of this front and back electrical motor was all carried out regenerative brake to the front and back electrical motor.
  9. 9. system as claimed in claim 7, wherein the control of the regenerative brake of this front and back electrical motor is only carried out regenerative brake to the back electrical motor in the electrical motor of front and back when power-transfer clutch is in released state.
  10. 10. system as claimed in claim 9, wherein during disengaging of clutch after regenerative brake power on regenerative brake power on the electrical motor back electrical motor during less than clutches engaged.
  11. 11. system as claimed in claim 9 also comprises preceding wheel speed detector that detects front wheel rotation speed and the back wheel speed detector that detects rear wheel rotation speed,
    Wherein the control to the regenerative brake of front and back electrical motor comprises:
    The slip rate of trailing wheel when calculating disengaging of clutch;
    Whether the slip rate of judging this trailing wheel is less than the reference slip rate; And
    When this trailing wheel slip rate is not less than this with reference to slip rate, stop the regenerative brake of back electrical motor.
  12. 12. system as claimed in claim 9 also comprises the gear shift detector of the shift pattern that is used to detect hand-operated transmission,
    The control of the regenerative brake of electrical motor comprises whether judgement speed of a motor vehicle in the brake operation course of this four-wheeled electric vehicle becomes 0 (zero) wherein,
    Wherein, when the speed of a motor vehicle of this four-wheeled electric vehicle was 0, the regenerative brake that stops the back electrical motor was in D Drive until clutches engaged and hand-operated transmission.
CNB2004100912329A 2003-11-18 2004-11-17 Method and system for controlling regenerative braking of a four wheel drive electric vehicle Expired - Fee Related CN1296223C (en)

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